Cable climbing device based on unmanned aerial vehicle

Abstract

The utility model provides a cable climbing device based on an unmanned aerial vehicle, the unmanned aerial vehicle provides a platform for the cable climbing device, a main frame of the unmanned aerial vehicle is composed of a plurality of rods and comprises two longitudinal rods parallel to each other, the longitudinal rods extend from front to back, and the front ends, the rear ends and the middles of the longitudinal rods are fixed to transverse rods parallel to each other respectively; supporting legs are arranged at the four ends of the transverse rod, and four propellers are reversely installed on the lower side face of the longitudinal rod and are evenly arranged. A main board is further arranged between the longitudinal rods and connected with the transverse rod, a control device is arranged in the middle of the main board, clamping mechanisms are arranged on the two sides of the control device, walking mechanisms are arranged on the two sides of the clamping mechanisms, and cameras are arranged at the two ends of the main board. According to the self-adaptive cable climbing system installed based on the unmanned aerial vehicle, fine inspection of the unmanned aerial vehicle is effectively achieved, a large amount of manpower and material resources are saved, the efficiency and quality of wire fault inspection work are improved, and the personal safety of high-altitude operation personnel is guaranteed.

Description

Technical Field

[0001] This utility model patent relates to a tool used for inspecting line equipment using drones, and in particular to a drone-based cable climbing device. Background Technology

[0002] In existing technologies, traditional manually operated drones are the main equipment for power grid fault detection. These drones require a pilot to operate them. Because traditional drones operate with dynamically rotating propellers, they can only observe lines through long-distance imaging or non-contact sensors, resulting in unclear images and low recognition rates. Furthermore, drones consume a lot of power and have a short cruising range, requiring significant manpower and resources for the entire detection process. Currently, there are emerging projects using pole-climbing robots for close-range cable inspection. However, this requires workers to climb to the appropriate height on the power line using ladders and other tools to manually place the robot on the line. Moreover, once the robot is installed on the power line, it cannot be removed, making the entire operation unrepeatable and inefficient. Summary of the Invention

[0003] To address the aforementioned technical problems, this utility model provides a cable-climbing device based on a drone.

[0004] This utility model is achieved through the following technical solution:

[0005] A cable-climbing device based on a drone, wherein the drone provides a platform for the cable-climbing device, and the main frame of the drone consists of multiple rods, including two parallel longitudinal rods 1 extending from front to back, which are fixed to parallel crossbars 2 at the front, rear and middle parts of the longitudinal rods 1 respectively; support legs 3 are provided at the four ends of the crossbars 2, and four propellers 5 are mounted in opposite directions on the lower side of the longitudinal rods 1, the propellers 5 being evenly arranged.

[0006] A main board 4 is also provided between the longitudinal bars 1. The main board 4 is connected to the crossbar 2. A control device 6 is provided in the middle of the main board 4. A clamping mechanism 7 is provided on both sides of the control device 6. A walking mechanism 8 is provided on both sides of the clamping mechanism 7. A camera 9 is provided at both ends of the main board 4.

[0007] In a further optimized solution, the control device 6 is also equipped with a GPS 10, a wireless communication device and a battery. The control device 6 communicates with the ground and controls the clamping mechanism 7, the walking mechanism 8, the camera 9 and the propeller 5.

[0008] In a further optimized scheme, the clamping mechanism 7 has an electric push rod 11, the outer shell of the electric push rod 11 is hinged to one end of the pull rod 15, a connecting seat 16 is fixed on the end of the movable rod of the electric push rod 11, a gripper 17 is hinged on the connecting seat 16, the other end of the pull rod 15 is hinged to the gripper 17, and the gripper 17 can be closed at the free end.

[0009] In a further optimized scheme, the walking mechanism 8 has an electric push rod 11, a mounting base 12 is fixed on the end of the movable rod of the electric push rod 11, a motor 13 is provided on the mounting base 12, and a drive wheel 14 is connected to the output shaft of the motor 13.

[0010] In a further optimized solution, a roller 18 is provided on the inner side of the free end of the gripper 17. When the two grippers 17 are closed, a groove 19 is formed for the cable to pass through, and the roller 18 is located on the inner side of the groove 19.

[0011] This utility model provides an adaptive cable climbing system based on drone installation. It creatively designs a corresponding adaptive claw-shaped gripper and zero-distance detection system according to the actual needs of power grid drone inspection, effectively realizing precise drone inspection, saving a lot of manpower and material resources, improving the efficiency and quality of power line fault inspection, and ensuring the personal safety of high-altitude workers. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the cable-climbing device based on a drone according to this utility model;

[0013] Figure 2 This utility model Figure 1 Enlarged view of section A in the middle;

[0014] Figure 3 This utility model Figure 1 Enlarged view of section B;

[0015] The diagram shows: 1. Longitudinal rod; 2. Horizontal rod; 3. Support leg; 4. Main board; 5. Propeller; 6. Control device; 7. Clamping mechanism; 8. Walking mechanism; 9. Camera; 10. GPS; 11. Electric push rod; 12. Mounting base; 13. Motor; 14. Drive wheel; 15. Pull rod; 16. Connecting seat; 17. Gripper; 18. Roller; 19. Groove. Detailed Implementation

[0016] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0017] In the description of this utility model, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0018] In this utility model, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0019] This utility model discloses a cable climbing device based on a drone. The drone provides a platform for the cable climbing device. The main frame of the drone is composed of multiple rods, including two parallel longitudinal rods 1 that extend from front to back. The front, rear and middle parts of the longitudinal rods 1 are respectively fixed to parallel cross rods 2. Support legs 3 are provided at the four ends of the cross rods 2. Four propellers 5 are installed in opposite directions on the lower side of the longitudinal rods 1. The propellers 5 are evenly arranged.

[0020] A main board 4 is also installed between the longitudinal bars 1. The two ends of the main board 4 are fixedly connected to the crossbars 2. A control device 6 is installed in the middle of the main board 4. A clamping mechanism 7 is installed on the main board 4 on both sides of the control device 6. A walking mechanism 8 is installed on the main board 4 on both sides of the clamping mechanism 7. The control device 6 is also equipped with a GPS 10, a wireless communication device and a battery. The control device 6 communicates with the ground and controls the clamping mechanism 7, the walking mechanism 8, the camera 9 and the propeller 5.

[0021] Cameras 9 are mounted at both ends of the mainboard 4. Based on the information transmitted by these cameras, personnel can assess the health of the power transmission lines, enabling dynamic observation of the lines and their corridors, and real-time recording of cable data. Cameras 9 operate at 5.8 GHz and can capture 30 clear 720×480 images per second. The cameras 9 are mounted at the front and rear ends of the drone, close to the power transmission lines, ensuring a suitable proportion of the lines in the image. The two cameras 9 are placed opposite each other to avoid image blurring caused by direct sunlight or shadows on one side. During installation, the cameras 9 face the power transmission lines, reducing uncertainty for personnel observing from the ground.

[0022] The clamping mechanism 7 has an electric push rod 11. The housing of the electric push rod 11 is hinged to one end of the pull rod 15. A connecting seat 16 is fixed to the end of the movable rod of the electric push rod 11. A gripper 17 is hinged to the connecting seat 16. The other end of the pull rod 15 is hinged to the gripper 17. The gripper 17 can be closed at its free end. A roller 18 is provided on the inner side of the free end of the gripper 17. When the two grippers 17 are closed, they form a groove 19 for the cable to pass through. The roller 18 is located on the inner side of the groove 19.

[0023] The walking mechanism 8 has an electric push rod 11, and a mounting base 12 is fixed on the end of the movable rod of the electric push rod 11. A motor 13 is mounted on the mounting base 12, and a drive wheel 14 is connected to the output shaft of the motor 13.

[0024] The specific working principle of the above-mentioned drone-based cable-climbing device is as follows:

[0025] 1) Positioning and approach: Control the drone via ground remote controller to fly under the power line, use the onboard camera to identify the location of the power line, and prepare for the mounting operation;

[0026] 2) Gripper opening and closing and fixing: When the drone approaches within a certain range of the power transmission line, the gripping mechanism starts to work. The gripper opens first, the drone increases the throttle to bring the gripper into the gripping range, the gripper closes and locks, and is fixed on the power transmission line to ensure that the equipment will not fall off.

[0027] 3) Movement and detection: The grippers are equipped with friction wheels, allowing the device to move on the power transmission line. The telescopic electric push rod on the base of the device pushes the drive wheel, causing the drive wheel to come into contact with the power transmission line. The motor drives the entire UAV system to move along the power transmission line. During the movement, the UAV can use the onboard camera and other equipment to perform real-time detection and record the health status of the power transmission line.

[0028] 4) Stable stopping and data transmission: After completing its task, the equipment stably stops at a specific location on the power transmission line, takes pictures of the power transmission line with its camera, and transmits the captured images and detected data back to the ground control station in real time, clearly, and with low latency.

[0029] 5) Release and return: After the mission is completed, the drone increases its throttle again to provide sufficient lift, causing the grippers to unlock and open. The drone then slowly descends, and the entire system safely returns to the ground.

[0030] In this way, the fixed hardware equipment for controlling drones to complete high-altitude patrol inspections can save a lot of manpower and resources. By using specially designed telescopic dual-drive friction grippers and cameras, the inspection time of drones is greatly shortened compared with manual inspection, and the quality of inspection images is also greatly improved. At the same time, it also solves the safety hazards of high-altitude workers.

[0031] The specific design principle of the shooting system of this utility model is as follows:

[0032] 1) This invention enables the drone to maintain a close proximity to the power line when mounted on it, allowing the camera to get as close as possible to the power line and thus obtain a clearer image.

[0033] 2) The dual-camera design ensures image clarity and stability. The two cameras point in opposite directions, reducing image blur caused by direct sunlight or shadows from one side.

[0034] 3) High-frequency transmission, operating at 5.8GHz, ensures efficient and stable data transmission, guaranteeing the real-time performance and smoothness of image data.

[0035] 4) Multi-channel support enhances system flexibility and anti-interference capabilities, enabling switching between multiple channels to avoid external signal interference and improve transmission quality.

[0036] 5) The system design emphasizes low latency, which is crucial for real-time monitoring and rapid response to power grid conditions.

[0037] In addition to the steps described above, this utility model also includes the following key points:

[0038] The drone flight system is equipped with onboard GPS and inertial sensors to control the drone's location and flight status. A low-battery warning and lock-up mechanism is designed for extreme scenarios where the drone's battery is low, and the system regularly assesses its remaining power to ensure the equipment can safely return to the ground after operations.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A cable-climbing device based on a drone, characterized in that: The drone provides a platform for the cable climbing device. The main frame of the drone consists of multiple rods, including two parallel longitudinal rods (1) that extend from front to back. The front, rear and middle parts of the longitudinal rods (1) are respectively fixed to parallel cross rods (2). Support legs (3) are provided at the four ends of the cross rods (2). Four propellers (5) are installed in opposite directions on the lower side of the longitudinal rods (1). The propellers (5) are evenly arranged. A main board (4) is also provided between the longitudinal bars (1). The main board (4) is connected to the cross bar (2). A control device (6) is provided in the middle of the main board (4). A clamping mechanism (7) is provided on both sides of the control device (6). A walking mechanism (8) is provided on both sides of the clamping mechanism (7). A camera (9) is provided at both ends of the main board (4).

2. The cable-climbing device based on a drone according to claim 1, characterized in that: The control device (6) is also equipped with a GPS (10), a wireless communication device and a battery. The control device (6) communicates with the ground and controls the clamping mechanism (7), the walking mechanism (8), the camera (9) and the propeller (5).

3. The cable-climbing device based on a drone according to claim 2, characterized in that: The clamping mechanism (7) has an electric push rod (11), the outer shell of which is hinged to one end of a pull rod (15). A connecting seat (16) is fixed to the end of the movable rod of the electric push rod (11), and a gripper (17) is hinged to the connecting seat (16). The other end of the pull rod (15) is hinged to the gripper (17), and the gripper (17) can be closed at its free end.

4. The cable-climbing device based on a drone according to claim 3, characterized in that: The walking mechanism (8) has an electric push rod (11), and a mounting base (12) is fixed on the end of the movable rod of the electric push rod (11). A motor (13) is provided on the mounting base (12), and a drive wheel (14) is connected to the output shaft of the motor (13).

5. The cable-climbing device based on a drone according to claim 4, characterized in that: A roller (18) is provided on the inner side of the free end of the gripper (17). When the two grippers (17) are closed, a groove (19) is formed for the cable to pass through. The roller (18) is located on the inner side of the groove (19).

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